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Chapterr 3 Thee Uva-DRIVE Virtual Reality System* * UvA-DARE (Digital Academic Repository) Interactive Exploration in Virtual Environments Belleman, R.G. Publication date 2003 Link to publication Citation for published version (APA): Belleman, R. G. (2003). Interactive Exploration in Virtual Environments. General rights It is not permitted to download or to forward/distribute the text or part of it without the consent of the author(s) and/or copyright holder(s), other than for strictly personal, individual use, unless the work is under an open content license (like Creative Commons). Disclaimer/Complaints regulations If you believe that digital publication of certain material infringes any of your rights or (privacy) interests, please let the Library know, stating your reasons. In case of a legitimate complaint, the Library will make the material inaccessible and/or remove it from the website. Please Ask the Library: https://uba.uva.nl/en/contact, or a letter to: Library of the University of Amsterdam, Secretariat, Singel 425, 1012 WP Amsterdam, The Netherlands. You will be contacted as soon as possible. UvA-DARE is a service provided by the library of the University of Amsterdam (https://dare.uva.nl) Download date:02 Oct 2021 Chapterr 3 Thee UvA-DRIVE virtual reality system* * "The"The ultimate display would, of course, be a room within whichwhich the computer can control the existence of matter. AA chair displayed in such a room would be good enough toto sit in. Handcuffs displayed in such a room would be confining,confining, a bullet displayed in such a room will be fatal. WithWith the appropriate programming, such a display could literallyliterally be the Wonderland into which Alice walked." IvanIvan Sutherland, The Ultimate Display, Proceedings of thee IFIP Congress, 2, pages 506-508, 1965. 3.11 Introduction Thee objective of a Virtual Environment (VE, the environment that is generated by aa VR system) in general is to fool a human being into believing that he or she is physicallyy located in a synthetically generated environment by presenting him or her withh reactive external stimuli. Of the human sensory system (vision, hearing, smell, touchh and taste), the modality that is most often exploited in a VR system is vision becausee it has the greatest and most immediate impact. High-end VR systems, like thee CAVE installed at SARA in 1997, have been successfully applied in numerous fields,fields, ranging from architecture and engineering, to biotechnology, psychology and medicinee [5,20,25,50,51]. Whatt all these projects have in common is that they need a VR system that can generatee a VE that is so compelling that the user is convinced he is immersed into aa new world. To achieve this, the VR system must, apart from presenting the user withh sensory stimuli, be able to sense the behaviour of a user so that it can react to 'Partss of this chapter have been published in R.G. Belleman, B. Stolk, and R. de Vries. "Immersive virtualvirtual reality on commodity hardware", Proceedings of the 7th annual conference of the Advanced Schooll for Computing and Imaging (ASCI 2001), pages 297-304, 2001. 52 2 TheThe UvA-DRIVE virtual reality system thee user's actions. Such an environment then allows the user to interact with the VE, therebyy increasing a user's awareness of the world presented around him. It is this combinationn of presentation and interaction that makes VR so interesting. Havingg said that, it is curious that VR has not met wider acceptance than it has upp until now. The main reason for this is cost. Not until recently, the only sys- temss that were capable of providing high fidelity VR were large monolithic computer systemss with dedicated graphical subsystems that cost millions. However, with cur- rentlyy available commodity off-the-shelf (COTS) hardware and open source software itt is now possible to build VR systems that rival and in some cases surpass the capa- bilitiess of large commercial VR systems. Thiss chapter describes a design that has resulted in the construction of, amongst oth- ers,, the University of Amsterdam Distributed Real-time Interactive Virtual Environ- mentment (UvA-DRIVE), a fully functional VR system based on COTS hard- and software. Sectionn 3.2 discusses the requirements of VR systems and the considerations that havee to be taken into account while constructing one. Section 3.3 describes a number off design options for a VR architecture. Section 3.4 presents the prototype which has beenn built and the results of a comparative benchmark. Finally, in section 3.5 we presentt our conclusions. 3.22 Requirements and considerations Thee primary objective of this work is to design and build a fully functional VR system thatt allows users to explore their datasets or to develop prototypes of virtual environ- mentss for later use in larger systems, such as a CAVE, without having to use these moree expensive resources during development. The considerations we made in the designn of the new architecture are the following. Multii user Inn most applications, a researcher wants to explore and discuss the results of an experimentt with his peers. The display system should therefore allow more than onee person to join in the experience. This rules out the use of head-mounted displays (HMD)) that essentially provide a single user VR experience (the increase in both com- plexityy and cost make it impractical for every user to wear an HMD). Furthermore, conventionall cathode-ray tubes (CRT) monitors are too limited in size; in practice, no CRTT monitors larger than approximately 100 cm in diagonal exist. Larger sized LCD panelss are available but suffer from low refresh rates which makes them unsuitable forr VR displays. Minimall effort in porting existing software Inn the past, extensive effort has been put in the development of visualization and VR applicationss for use on high-end VR systems. An important requirement is. therefore, thatt the use of this software can be continued on the new architecture with minimal portingg efforts. 3.33.3 Design options for a VR architecture 53 3 Processorr and graphics performance Thee data sets that are currently explored by the users of VR systems range anywhere fromm low to high volume and complexity. To accommodate the full range, the archi- tecture'ss processing power and graphical performance should be able to handle these datasetss adequately. Stereoscopicc 3D display Stereoo vision adds a compelling depth-cue over perspective projection by providing thee left and right eye with slightly different images, corresponding to the differences thee eyes see when looking at objects in the real world. This property, together with thee ability to interact with a VE is what makes a VR system a unique tool for explor- ingg large, complex, multi-dimensional data sets. Headd and hand tracking Headd tracking makes an additional depth-cue possible known as "motion parallax". Withh this technique, the environment responds naturally to the movements of the userr so that one can attain additional information on the shape and size of a 3D structure.. Hand tracking allows a VR system to determine the position and orienta- tionn of the user's hand so that interaction with the environment is possible. Flexibilityy and scalability Rapidd advances in the semiconductor industry make computing and graphics sys- temss virtually obsolete within a time span of three to five years. To lengthen this timee span, the new architecture should consist of components that can be easily re- placedd as better hardware becomes available. Cost t Forr most end-users, project budgets are limited. The solution we are looking for there- foree aims at providing a VR architecture that is low cost (both in construction and maintenance)) but not at the expense of the requirements mentioned above. 3.33 Design options for a VR architecture Givenn the requirements and considerations outlined in the previous section, we have investigatedd a number of options to construct a VR architecture based on commodity hardware.. During our investigation we have considered a number of different designs whichh will be discussed in this section. The architecture we have selected and built is describedd in section 3.4. 54 4 TheThe UuA-DRIVE virtual reality system 3,3.11 Multi user stereoscopic display Thee display system is that part of the VR system the experimenter looks at and in- teractss with. In some cases, a quality monitor may be quite sufficient as a display systemm but for multi user use, a monitor is often too small. A convenient method for obtainingg a large display area is to use high brightness projectors that project images onn large surfaces that can be viewed by multiple users at the same time. In these sys- temss a projector projects images on a screen, mostly on the back so that the user can movee freely in front of the screen without occluding the projected images (see Figure 3.L).. This chapter will only cover single screen projection systems. Frontt Projection (Occlusion) Back Projection (No occlusion) hh 3 FigureFigure 3.1: Front and back projection systems. Torr projection based systems, there are basically two methods to generate stereoscopic images;; active and passive stereo systems. Activee stereo Inn active stereo systems, a single display device (i.e. a graphics adapter and a projec- tor)) is used to generate images for the left and right eye alternately. The display of thee images is synchronized with a device that ensures that the users see only the left imagee in the left eye and the right image in the right eye. Thee application, the graphics adapter's firmware and the graphics adapter's hard- waree must support this type of stereo through an interface that signals the end of a frame.
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